diff --git a/mpi_sim/components/occupancy_grid_mapping.py b/mpi_sim/components/occupancy_grid_mapping.py
index 5b59d247e0c9b8f29ed4f5a1b833fea954931d72..69671fcc0cbe76e5201308f8f17226651a283355 100644
--- a/mpi_sim/components/occupancy_grid_mapping.py
+++ b/mpi_sim/components/occupancy_grid_mapping.py
@@ -204,8 +204,9 @@ class OccupancyGridMapping(SensorComponent):
             # Same but we need to relocate the position from the center of the imported room
             self.state.local_map = mpi_sim.utils.create_local_perspective_occupancy_grid_map(
                 global_map=self.state.global_map,
-                position=self.object.position,
-                orientation=constraint_angle(np.pi/2+self.object.orientation),
+                # find a way to explain this 
+                position=self.object.position, # @ np.array([[0, 1],[-1, 0]]),
+                orientation=constraint_angle(np.pi/2+self.object.orientation), # TODO : define a function that adjust the angle depending on the map
                 depth=self.config.depth,
                 from_given_center = self.config.imported_global_map_px_coord_center
             )
diff --git a/mpi_sim/utils/social_map.py b/mpi_sim/utils/social_map.py
index 9f8e98b4785d615dd5be3ec1399a9049d54e5412..81bdb8108a01b5fcb4e87e14dd2561522d608ab5 100644
--- a/mpi_sim/utils/social_map.py
+++ b/mpi_sim/utils/social_map.py
@@ -94,16 +94,7 @@ def create_social_map(simulation, area=None, resolution=0.05, human_velocities=N
         area (tuple):   Area of the simulation that should be mapped in ((x_min, x_max), (y_min, y_max)). (Default: None)
                         If None, it uses the simulation.visible_area.
         resolution (float): Resolution in meter per cell (Default: 0.05).
-        object_filter: Defines which objects should be on the map. (Default: None)
-                                 If None, then all objects.
-                                 Otherwise, a dictionary that can have the following fields: properties, ids, types
-                                    properties: List of object properties (strings). See Object.properties.
-                                    ids: List of object ids (ints).
-                                    types: List of object types (classes).
-                                    operator: Either 'or' or 'and'. Defines how the different filters are combined. (Default: 'or')
-                                 All objects that fulfill these requirements are added.
-        default_occupancy_value (float): Occupancy value of objects (Default: 1.0)
-        occupancy_value_depth (integer): Number of bits used to encode the occupancy value (Default: 32).
+        human_velocities (list) : List of [x,y] velocities of humans
 
     Returns:
         social map in form of a SocialMap (namedtuple with map, area, and resolution).
@@ -133,7 +124,12 @@ def create_social_map(simulation, area=None, resolution=0.05, human_velocities=N
     for id, bodie in enumerate(bodies) :
         x, y = np.array(bodie.position)
         theta = np.pi/2 + bodie.angle
-        v = human_velocities[id] if human_velocities else 0
+        vx,vy = 0,0
+        if human_velocities is not None:
+            if len(human_velocities) > 0 :
+                vx = human_velocities[id][0]
+                vy = human_velocities[id][1]
+        v = np.sqrt(vx**2 + vy**2)
         # TODO : Check that the order of the bodies is the same : i.e. that the added speeds actually match 
         persons.append((x ,y, theta, v, False))